U.S. patent application number 14/212184 was filed with the patent office on 2014-09-18 for sensor mount.
This patent application is currently assigned to InnerOptic Technology, Inc.. The applicant listed for this patent is InnerOptic Technology, Inc.. Invention is credited to Caroline Green, Kurtis Keller, Sharif Razzaque, Andrei State.
Application Number | 20140275810 14/212184 |
Document ID | / |
Family ID | 51530300 |
Filed Date | 2014-09-18 |
United States Patent
Application |
20140275810 |
Kind Code |
A1 |
Keller; Kurtis ; et
al. |
September 18, 2014 |
SENSOR MOUNT
Abstract
A sensor mount that can be coupled to the shaft of a medical
device can include an elongated shaft. The elongated shaft can
include a lumen for coupling to the shaft of the medical device and
a pose sensor for providing position and orientation information
regarding the medical device. In some cases, the sensor mount can
include a handle coupled to the elongated shaft and the medical
device.
Inventors: |
Keller; Kurtis;
(Hillsborough, NC) ; Green; Caroline; (Carrborro,
NC) ; Razzaque; Sharif; (Chapel Hill, NC) ;
State; Andrei; (Chapel Hill, NC) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
InnerOptic Technology, Inc. |
Hillsborough |
NC |
US |
|
|
Assignee: |
InnerOptic Technology, Inc.
Hillsborough
NC
|
Family ID: |
51530300 |
Appl. No.: |
14/212184 |
Filed: |
March 14, 2014 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
61790765 |
Mar 15, 2013 |
|
|
|
61869313 |
Aug 23, 2013 |
|
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Current U.S.
Class: |
600/300 |
Current CPC
Class: |
A61B 18/1477 20130101;
A61B 18/02 20130101; A61B 34/20 20160201; A61B 17/3403 20130101;
A61B 5/067 20130101; A61B 18/1815 20130101; A61B 2018/00577
20130101; A61B 2018/00595 20130101; A61B 5/6848 20130101; A61B
5/065 20130101; A61B 2090/3983 20160201; A61B 2018/00613 20130101;
A61B 17/3478 20130101; A61B 18/201 20130101; A61B 2010/045
20130101 |
Class at
Publication: |
600/300 |
International
Class: |
A61B 5/00 20060101
A61B005/00; A61B 17/34 20060101 A61B017/34; A61B 5/06 20060101
A61B005/06 |
Claims
1. A sensor mount comprising: a handle configured to couple to a
medical device; and an elongated shaft configured to couple to at
least a portion of a shaft of the medical device, the elongated
shaft comprising: a medical device lumen for coupling to the shaft
of the medical device, and a pose sensor lumen including a pose
sensor located at a portion of the elongated shaft that is distal
to the handle.
2. The sensor mount of claim 1, wherein the handle comprises a
cavity for electrically coupling wires from the pose sensor to a
medical device cable.
3. The sensor mount of claim 1, wherein the medical device lumen is
a first medical device lumen and the handle comprises a second
medical device lumen for coupling to the shaft of the medical
device.
4. The sensor mount of claim 1, wherein the handle comprises one or
more contours for coupling to a handle of the medical device.
5. The sensor mount of claim 4, wherein the one or more contours
comprise at least one of a protrusion and indentation corresponding
to a complementary at least one of an indentation and protrusion of
the handle of the medical device.
6. The sensor mount of claim 1, wherein a distal end of the
elongated shaft comprises a sharpened tip.
7. The sensor mount of claim 1, wherein the elongated shaft extends
along the length of a passive portion of the shaft of the medical
device.
8. The sensor mount of claim 1, wherein the pose sensor is a first
pose sensor and the first pose sensor lumen is a first pose sensor
lumen, and the elongated shaft further comprises a second pose
sensor lumen for enclosing a second pose sensor located at the
portion of the elongated shaft that is distal to the handle.
9. The sensor mount of claim 8, wherein the first pose sensor lumen
and the second pose sensor lumen are equidistant from the center of
the medical device lumen.
10. The sensor mount of claim 1, wherein the elongated shaft
encloses at least a portion of a cross-section of the at least a
portion of the medical device.
11. The sensor mount of claim 10, wherein the elongated shaft
encloses the cross-section of the at least a portion of the medical
device.
12. The sensor mount of claim 1, wherein the elongated shaft
comprises a sheath portion and a hinged portion.
13. The sensor mount of claim 1, wherein the elongated shaft
further comprises: a medical device shaft comprising the medical
device lumen; and a sensor shaft coupled to the medical device
shaft, the sensor shaft comprising the sensor lumen.
14. The sensor mount of claim 1, wherein the elongated shaft
further comprises a sleeve located within the medical device
lumen.
15. The sensor mount of claim 1, wherein the elongated shaft
further comprises a sleeve located within the sensor lumen.
16. The sensor mount of claim 1, wherein at least one of the
medical device shaft and the sensor shaft comprise a sharpened
tip.
17. The sensor mount of claim 1, wherein a distal end of the pose
sensor lumen and a proximal end of the pose sensor lumen are
covered.
18. The sensor mount of claim 1, wherein the pose sensor lumen
extends along the length of the elongated shaft.
19. The sensor mount of claim 1, wherein the pose sensor lumen
extends along a portion of the length of the elongated shaft.
20. The sensor mount of claim 1, wherein the pose sensor lumen
extends along a portion of the elongated shaft that is distal to
the handle and does not extend along the entire length of the
elongated shaft.
21. A sensor mount comprising: an elongated shaft configured to
couple to at least a portion of a shaft of a medical device, the
elongated shaft comprising: a lumen for coupling to the shaft of
the medical device, and a pose sensor enclosed within a sensor
cavity and located at a portion of the elongated shaft that is
distal to a handle of the medical device.
22. The sensor mount of claim 21, wherein the elongated shaft
extends across only a portion of the length of the shaft of the
medical device
23. The sensor mount of claim 22, wherein the elongated shaft is
proximal to a distal end of the medical device.
24. The sensor mount of claim 21, wherein the distal end of the
medical device comprises an ultrasound transducer.
25. The sensor mount of claim 21, wherein the elongated shaft
further comprises a cavity for electrically coupling wires from the
pose sensor to medical device system cables.
26. The sensor mount of claim 21, wherein the elongated shaft
encloses the cross-section of the at least a portion of the medical
device.
27. The sensor mount of claim 21, wherein the elongated shaft
comprises a sheath portion and a hinged portion.
Description
PRIORITY CLAIM
[0001] The present application claim priority benefit to U.S. Prov.
App. Nos. 61/790,765, filed Mar. 15, 2013 and U.S. Prov. App. No.
61/869,313, filed Aug. 23, 2013, each of which is hereby
incorporated by reference in its entirety.
BACKGROUND
[0002] Many medical procedures require a needle, needle-like
device, or medical device, to be inserted into the patient through
a trocar. Some of these devices benefit from the addition of pose
(position and/or orientation) tracking, directing, and/or
predicting where the device can, or should, go inside a body.
Typically, when a pose sensor is used with a medical device, it is
embedded into the medical device. However, medical devices often do
not have sufficient space for a pose sensor and/or need to be
modified in order to accommodate the pose sensor. Furthermore,
regulatory approval is often required to modify the medical device
to accommodate the sensor, which can be both time consuming and
expensive. In addition, placing a pose sensor near the needle
handle often results in inaccurate pose information due to the
natural flexibility of the medical device. For example, some
medical devices can deflect 20-30 degrees once inserted, which can
result in accuracy variations from 50-100 mm or more, depending on
the distance between the pose sensor and the distal end of the
medical device. In many medical procedures this variation is not
acceptable.
SUMMARY
[0003] One or more embodiments of a sensor mount are described that
allow a user to couple one or more pose (position and/or
orientation) sensors to an existing medical device. The medical
device and the sensor mount can then be inserted into the patient
as an assembly. In some embodiments, the sensor is not designed
into the medical device by the manufacturer, but is coupled to the
medical device prior to use by a medical practitioner (e.g.,
doctor, nurse, technician, assistant, caretaker, etc.).
BRIEF DESCRIPTION OF THE DRAWINGS
[0004] FIG. 1A is a rendering of an embodiment of a sensor
mount.
[0005] FIG. 1B is a rendering of a distal end of a sensor
mount.
[0006] FIG. 1C is a rendering of a portion of the shaft of a
medical device and a sensor mount including a sleeve.
[0007] FIG. 1D is a rendering of a handle of a sensor mount.
[0008] FIG. 1E is a rendering of a handle of a sensor mount coupled
with a medical device.
[0009] FIG. 2 is a diagram of an embodiment of a sensor mount.
[0010] FIG. 3A is a rendering of an embodiment of a sensor
mount.
[0011] FIG. 3B is a diagram of an embodiment of a sensor mount.
[0012] FIG. 4A is a rendering of an embodiment of a junction block
coupled with a medical device.
[0013] FIG. 4B is a diagram of a sensor mount coupled to a medical
device and a junction block including a spring.
[0014] FIG. 5 is a diagram of embodiments of a cross section of a
wire.
DETAILED DESCRIPTION
[0015] As described in greater detail below, a sensor mount can be
used to couple one or more pose sensors to an existing medical
device. The sensor mount can be implemented as a sheath or sleeve,
clip-on, or other configuration. The pose sensor, described in
greater detail in U.S. application Ser. No. 13/753,274, filed Jan.
29, 2013, now issued as U.S. Pat. No. 8,670,816, (the '274
Application) and U.S. application Ser. No. 13/014587, filed Jan.
26, 2011, now issued as U.S. Pat. No. 8,641,621 (the '587
Application), each of which is incorporated by reference herein in
its entirety, can report pose with 3, 5 or 6 degrees of freedom,
etc., and can be magnetic, electrostatic, proximity, optical,
inertial, sonic, etc. The pose sensor can be located within or on
the outside of the sensor mount and can therefore provide position
and orientation information regarding the sensor mount (and the
medical device when the medical device is coupled to the sensor
mount). In some embodiments, the sensor can be wrapped around the
elongated shaft.
[0016] The medical device(s) can include, but is not limited to,
ablation needles (e.g., radiofrequency ablation needles, microwave
ablation needles), biopsy needles, brachytherapy needles,
electroporation electrodes, solid needles, hollow needles,
aspiration needles, injection needles, flexible needles, ultrasound
needles, etc., other needle-like devices, and/or laparoscopic
instruments such as graspers, cameras, ultrasound transducers,
staplers, electro cautery instruments, harmonic shears, etc.
[0017] Reference throughout the specification is made to distal and
proximal portions of the sensor mount. The terms proximal and
distal are used herein from the perspective of a handle of a
medical device when used with the sensor mount. For example, the
tip of the sensor mount can be referred to as the distal end of the
sensor mount and the handle of the sensor mount can be referred to
as the proximal end of the sensor mount.
[0018] FIG. 1A is a rendering of an embodiment of a sensor mount
100. In some embodiments, the sensor mount 100 can include an
elongated shaft 102 and a handle 104. The elongated shaft 102
and/or handle 104 can be made as an integrated sensor mount 100
and/or can be coupled together (e.g., by using glue, epoxy, tape,
or other adhesive, compression nut, screws, nails, clamp, welding,
soldering, compression, etc.). Furthermore, the elongated shaft 102
and the handle 104 can be molded and/or manufactured from the same
or different material. For example, the elongated shaft 102 and/or
the handle 104 can be made of nylon, stainless steel, titanium,
aluminum, polyimide, Kevlar, plastic, polymer, composite material,
or other rigid or semi-rigid material, as desired. In some
embodiments, the elongated shaft 102 can be flexible to allow the
medical device to flex or bend. In certain embodiments, the
material used is a medical-grade, non-magnetic material. Any
combination of the above-described embodiments can be used as
desired.
[0019] In some embodiments, a distal portion of the handle 104 can
interface with a proximal portion of the elongated shaft 102. For
example, an indentation in the handle 104 can interface with a
proximal end of the elongated shaft 102. In some embodiments, the
proximal end of the elongated shaft 102 can be adhered to the
handle (e.g., by using glue, epoxy, tape, or other adhesive,
compression nut, screws, nails, clamp, welding, soldering,
compression, etc.).
[0020] In some cases, the length and dimensions of the elongated
shaft 102 can be based at least in part on the dimensions of the
medical device used with the sensor mount 100, other medical
devices used during the medical procedure, and/or physiological
characteristics of the patient. For example, the width and/or or
cross-sectional dimensions of the elongated shaft 102 can be based
at least in part on the cross-sectional dimension of the medical
device that is fitted with the sensor mount 100, an introducer,
and/or a trocar (or other medical device) that is used during the
medical procedure. For example, in some embodiments, the
cross-sectional area of the elongated shaft 102 is larger than the
cross-sectional area of the medical device, but smaller than the
cross-sectional area of the trocar, the introducer, and/or an area
threshold (e.g., the area corresponding to an incision or entry
point in the patient). In this manner, the elongated shaft 102 can
fit around the medical device, while remaining small enough to be
inserted into the patient (e.g. via the trocar, the introducer, by
itself, etc.). In certain embodiments, the cross-sectional area of
the elongated shaft 102 is determined based at least in part on a
size of anatomical features of the patient. In this way, the sensor
mount 100 can be used without causing damage to the patient.
[0021] In some embodiments, the elongated shaft 102 fits all the
way around at least a portion of the medical device. For example,
the elongated shaft can enclose a cross-section of the medical
device shaft like a sleeve or sheath. In such embodiments, the
medical device can be threaded through the elongated shaft 102. In
some embodiments, the elongated shaft 102 can include a seam that
allows the elongated shaft to be snapped onto the medical device
shaft. In certain embodiments, the elongated shaft 102 can fit
around a portion of the medical device. For example, the
cross-section of the elongated shaft 102 can be `C` shaped and fit
around half, three-quarters, or more (or less), of the
cross-section of the shaft of the medical device (other dimensions
can be used as desired). In some embodiments, the elongated shaft
102 can be configured to snap onto the medical device or otherwise
be coupled and/or adhered to the medical device. In certain
embodiments, the medical device can be threaded through the
elongated shaft 102.
[0022] In some embodiments, the elongated shaft can include a
sheath portion and a hinged portion. The sheath portion can include
half or more of the cross-section of the elongated shaft and can be
snapped onto the medical device and/or the medical device can be
threaded through the sheath portion. The hinged portion can include
a pivot, hinge-pin, or living hinge. Once the medical device is
coupled with the sheath portion, the hinged portion can be closed
so that the elongated shaft 102 fits around the medical device
shaft. In some embodiments, the hinged portion can provide space
for the pose sensor and sensor wires.
[0023] In some embodiments, the location of the elongated shaft 102
and/or the location to which the elongated shaft 102 extends can be
determined based at least in part on the medical device used with
the sensor mount 100. For example, the medical device can have an
active portion (e.g., heating portion, heating zone, ablation zone,
electrode, cryo zone, seed placement (bracheotherapy), biopsy,
injection, marker placement, electroporation, carterization,
morselation, etc.) and a passive portion. In certain embodiments,
the elongated shaft 102 can extend along the medical device shaft
in the passive portion and can end at, or prior to, the active
portion. In some embodiments, the elongated shaft 102 does not
extend along the active portion of the medical device. In this way,
the elongated shaft 102 can avoid interfering with the active
portion of the medical device, while providing a location to place
the pose sensor closer to the distal end of the medical device than
is otherwise possible. For example, in some embodiments, the
elongated shaft 102 can extend along the medical device shaft to an
electrode of the medical device.
[0024] In certain embodiments, the distal end of the elongated
shaft 102 ends at or prior to the electrode. In some embodiments,
the distal end of the elongated shaft 102 extends to a heat or
ablation zone of the medical device. In certain embodiments, the
distal end of the elongated shaft 102 ends at, or prior to, the
heat or ablation zone. In some cases, the elongated shaft 102 can
extend along the entire length of the medical device and/or extend
beyond the length of the medical device. In certain embodiments,
the elongated shaft 102 does not extend along the entire length of
the shaft of the medical device. In some embodiments, the elongated
shaft 102 is located at or near a distal end of the medical device,
such as near a transducer of a laparoscopic ultrasound, as
illustrated in FIG. 4B.
[0025] In some embodiments, as illustrated in FIGS. 1B and 1C, a
distal end of the elongated shaft 102 can be sharpened, beveled,
and/or angled in order to increase the ease at which the sensor
mount 100 can be inserted into a patient. The end can be angled on
one side, as illustrated in FIG. 1C, or on multiple sides (e.g., to
create a point), an embodiment of which is illustrated in FIG. 1B,
as desired. In certain embodiments, a proximal end of the elongated
shaft 102 can be sharpened, beveled, and/or angled as desired.
[0026] In the illustrated embodiment of FIGS. 1A-1C, the elongated
shaft 102 can include two lumens: a medical device lumen 106 and a
sensor lumen 108. However, it will be understood that the elongated
shaft 102 can include fewer or more lumens as desired. For example,
in some embodiments, the elongated shaft 102 can include three or
more lumens. The additional lumens can be medical device lumens
and/or sensor lumens, as desired. For example, in some instances,
the medical device lumen 106 can be in the center, or approximately
in the center of the elongated shaft 102 (e.g. center of the
cross-section), and two sensor lumens can be equidistant from the
medical device lumen 106 and on opposite sides of the medical
device lumen 106. Additional sensor and/or medical device lumens
can be used as desired. In certain embodiments, the elongated shaft
102 can include one lumen, such as the medical device lumen 106. In
such embodiments, one or more sensors and/or corresponding wires
can be embedded in, wrapped around, and/or adhered to the elongated
shaft 102, as desired. Furthermore, in some embodiments, the
medical device lumen 106 is larger or smaller than the sensor lumen
108. In certain embodiments, the medical device lumen 106 and the
sensor lumen 108 are the same size, or approximately the same
size.
[0027] In some embodiments, the medical device lumen 106 can extend
along the entire length of the elongated shaft 102. The
cross-sectional dimensions (e.g., circumference, internal
cross-sectional perimeter) of the medical device lumen 106 can be
manufactured to correspond to the cross-sectional dimensions of the
medical device. For example, if the cross-section of the medical
device is circular, the cross-section of the medical device lumen
106 can be circular and/or semi-circular, etc. Similarly, the
medical device lumen 106 can be manufactured to have a
cross-section that is square, rectangle, oval, obround, triangle,
quadrilateral, hexagonal, etc. and/or complements a medical device
that is square, rectangle, oval, obround, triangle, quadrilateral,
hexagonal, etc., as desired.
[0028] In addition, in some embodiments, the medical device lumen
106 can be made to be equal, or approximately equal, to the
cross-sectional dimensions of the medical device. In certain
embodiments, the medical device lumen can be slightly smaller,
and/or slightly larger to the cross-sectional dimensions of the
medical device. If made approximately equal or slightly smaller,
the elongated shaft 102 can have some flexibility that enables the
medical device lumen 106 to adjust to the size of the medical
device. In certain embodiments, for example, such as when the
elongated shaft 102 does not fit all the way around the medical
device, the cross-sectional dimensions of the medical device lumen
106 can be configured to correspond at least a portion of the
cross-sectional dimensions of the medical device (e.g., half,
three-quarters, etc.). In this way the elongated shaft 102 can be
clipped and/or snapped onto the medical device.
[0029] In some embodiments, the dimensions of the medical device
lumen 106 can vary along the length of the elongated shaft 102. In
some cases, the variation can be due to a medical device that has
varying dimensions (e.g., wider and/or narrower at different
portions), and in certain instances the variation can be with
respect to the dimensions of the medical device. For example, if
the dimensions of the medical device are relatively constant across
its shaft, or if the dimensions of the medical device vary across
its shaft, the dimensions of the medical device lumen 106 can vary
with respect to the dimensions of the medical device shaft. In this
way, the elongated shaft 102 can be configured to fit more snugly,
or tightly, with some parts of the medical device than others. The
portions that fit more tightly can be used to maintain the position
and orientation of the sensor mount with respect to the medical
device.
[0030] Furthermore, as shown in FIG. 1C, in some embodiments, an
adapter sleeve 107 can be used to adapt the size of the medical
device lumen 106 to the size of the medical device shaft 109. For
example, if the diameter of the medical device lumen 106 is 10 mm,
and the diameter of the medical device shaft 109 is 6 mm, the
adapter sleeve 107 can be used to adapt the medical device lumen
106 to fit with the smaller medical device shaft 109. In some
embodiments, the adapter sleeve 107 is made from the same or
different material as the elongated shaft 102. For example, in some
embodiments, the elongated shaft 102 can be made of nylon and the
adapter sleeve 107 can be made of Teflon, etc.
[0031] The sensor lumen 108 can, in some embodiments, extend along
the length of the elongated shaft 102. In certain embodiments, the
sensor lumen 108 can extend along a portion of the length of the
elongated shaft 102. For example, in some embodiments, the sensor
lumen 108 can be implemented as a cavity in a distal, medial,
and/or proximal portion of the elongated shaft. In certain
embodiments, the sensor lumen 108 can be implemented as a
protrusion from a portion of the elongated shaft 102. In some
embodiments, the sensor lumen 108 extends along a portion of the
elongated shaft 102 that is distal to the handle and does not
extend along the entire length of the elongated shaft 102.
[0032] The cross sectional dimensions of the sensor lumen 108 can,
in some embodiments, be manufactured to correspond to the
dimensions of the sensor used with the sensor mount 100. For
example, the cross sectional dimensions of the sensor lumen 108 can
be configured to correspond to a pose sensor that is used with the
sensor mount 100. In some embodiments, the cross-sectional
dimensions of the sensor lumen 108 can be larger than the pose
sensor so that the sensor can be coupled to the sensor lumen 108.
The sensor can be coupled to the lumen in a variety of ways, such
as, but not limited to, by using glue, epoxy, tape, or other
adhesive, compression nut, screws, nails, clamp, welding,
soldering, compression, etc., as desired. In some embodiments, one
or more portions of the sensor lumen 108 can be indented (e.g.,
such as by crimping at least a portion of the elongated shaft 102)
to maintain the sensor in a desired location. Similar to the
adapter sleeve 107, a sensor lumen adapter sleeve can be used to
adapt the size of the sensor lumen 108 with the sensor.
[0033] When the sensor includes wires, the wires can be located
within the sensor lumen 108, embedded within the elongated shaft
102 and/or located within the medical device lumen 106. In some
embodiments, the wires can be located within grooves in the medical
device lumen 106 and/or the sensor lumen 108. In certain
embodiments, the sensor, or portions thereof, can be wrapped around
the elongated shaft 102, the medical device lumen 106 and/or the
sensor lumen 108.
[0034] In some embodiments, openings on one or both ends of the
sensor lumen 108, as well as the sensor, can be filled and/or
covered. In some embodiments, the entire sensor lumen 108 can be
filled. For example, after the sensor is located within the sensor
lumen 108, one or both openings at the end of the lumen can be
filled with epoxy, covered with a cap, or otherwise covered and/or
filled. Covering the distal end of the sensor lumen can prevent
tissue from the patient from interacting with the sensor. Covering
the proximal end of the sensor lumen 108 can make it easier to
sanitize the sensor mount 100.
[0035] With reference to FIG. 1D, the handle 104 can include a
medical device lumen 110, grooves 112, 114, a cavity 116, and
complementing medical device contours 118. In some cases, the
handle can also include one or more protrusions, recesses, or grips
for user comfort, such as the trigger-like protrusion 126,
illustrated in FIG. 1E. Furthermore, in some embodiments, the
handle 104 can include one or more pose sensors to provide position
and orientation data of the handle 104.
[0036] In some embodiments, the handle 104 can be coupled and/or
adhered to the medical device (e.g., by using glue, epoxy, tape, or
other adhesive, compression nut, screws, nails, clamp, welding,
soldering, compression, etc.). In addition, as described above,
with reference to the elongated shaft 102, the handle 104 can, in
some embodiments, enclose at least a portion of the medical device
(e.g., fit around a cross-section of the medical device shaft like
a sheath), and in certain embodiments, the handle 104 may not
enclose the medical device (e.g., fit around less than 100% of the
cross-section of the medical device shaft (as illustrated by the
shade 120 of the handle 104 in FIG. 1E), such as in a `C` shape,
described previously. In such embodiments, the handle 104 can snap
onto the medical device shaft and/or the medical device can be
threaded through the handle 104, as desired.
[0037] The medical device lumen 110 can correspond to the medical
device lumen 106 of the elongated shaft 102, such that the medical
device shaft can pass through the medical device lumen 110 of the
handle 104 and into the medical device lumen 106 of the elongated
shaft 102. Although not visible in FIG. 1C, it will be understood
that the handle can include a sensor lumen corresponding to the
sensor lumen 108 of the elongated shaft 102. In this way, wires
from the sensor in the sensor lumen 108 can pass through the handle
and into the cavity 116, as described below.
[0038] The sensor wires from the sensor in the sensor lumen 108 can
be located within the groove 112, thereby enabling the sensor wires
to reach the cavity 116. Cables for the medical device system, such
as the navigation systems described in greater detail in the '274
and '587 Applications, previously incorporated herein by reference,
can be located within the groove 114. Although illustrated on a
proximal portion of the handle 104, it will be understood that the
grooves 112 can be located on a distal and/or proximal portion of
the handle 104, as desired.
[0039] In some embodiments, the sensor wires and the medical device
system cables can be different. For example, the medical device
system cables can be larger, more robust, sheathed, and/or more
protected. In certain embodiments, the sensor wires and the medical
device system cables can be the same. For example, in such
embodiments, the wires from the sensor can be long enough and
robust enough to extend from the sensor to the medical device
system.
[0040] The cavity 116 can be used to interface the wires from the
sensor with the medical device system cables, and although not
illustrated in FIG. 1C, can include a cover to cover the sensor
wires and the medical device system cables. For example, the sensor
wires and the medical device system cables can be coupled together
within the cavity 116 (e.g., crimped, soldered, etc.) and covered
by the cover. In some embodiments, the cavity 116 can be filled
with epoxy to decrease the strain on the sensor wires and the
medical device system cables. It will be understood that a variety
of techniques can be used to decrease the strain on the sensor
wires and/or the medical device system cables. For example, pegs or
hooks can be used. Furthermore, although the cavity 116 is located
on a proximal portion of the handle 104 in the illustrated
embodiment, it will be understood that the cavity 116 can be
located on a distal portion and/or a proximal portion, as desired.
In addition, in some embodiments, the handle can omit the cavity
116. For example, in some embodiments, the coupling between the
sensor wires and the medical device system cables can be embedded
within the handle 104, etc. Any combination of the above-described
embodiments can be used as desired.
[0041] The complementing medical device contours 118 can be used to
interface the handle 104 with the medical device 103. In some
embodiments, the contours 118 can correspond to contours of the
medical device 103. For example, if the medical device includes a
protrusion at a particular location, the contours 118 can include
an indentation at the particular location, and vice versa. In
certain embodiments, the contours 118 can be used to couple the
handle 104 to the medical device. For example, the contours 118 can
be used to snap, clamp, clip, compress, etc. the handle 104 onto a
portion of the medical device 103. In some embodiments, at least a
portion of the contour 118 can include material to better adhere to
the medical device (e.g., rubber or other flexible material that
can have a high coefficient of friction when interfacing with the
medical device, etc.). Although, illustrated in FIG. 1D as having
one interfacing contour 118, it will be understood that that handle
104 can include multiple interfacing contours to interface the
handle 104 with the medical device 103, as desired. For example, as
illustrated in FIG. 1E, the handle 104 can include multiple
contours 118, etc.
[0042] FIG. 2 is a diagram of an embodiment of the sensor mount
100. In the illustrated embodiment of FIG. 2, the elongated shaft
102 of the sensor mount 100 includes a medical device shaft 102A
and a sensor shaft 102B. The medical device shaft 102A and the
sensor shaft 102B can be formed as an integrated shaft 102 and/or
can be coupled and/or adhered together, as desired. In some
embodiments, the medical device lumen 106 can be included in the
medical device shaft 102A, and the sensor lumen 108 can be included
in the sensor shaft 102B. In certain embodiments, the sensor, or at
least a portion thereof, can be wrapped around the medical device
shaft 102A and/or the sensor shaft 102B. In addition, the
illustrated embodiment of FIG. 2 shows the cover 122 to the cavity
116 and the cavity 116 located on a distal portion of the handle
104.
[0043] In some embodiments, the medical device shaft 102A or the
sensor shaft 102B can be sharpened, or angled as desired. For
example, in some cases the sensor shaft 102B can be sharpened, and
the medical device shaft 102A is not, or vice versa. In certain
embodiments both the medical device shaft 102A and the sensor shaft
102B are sharpened or are not sharpened, as desired.
[0044] Furthermore, in the illustrated embodiment of FIG. 2, the
handle 104 includes various contours 118 to interface with the
medical device. For example, the protrusion 124 of the handle 104
can interface with an indentation of the medical device. As such,
the handle 104 can be coupled with the medical device (e.g.,
snapped onto, clamped, compressed, etc.). It will be understood
that additional and/or different protrusions/indentations can be
included as desired.
[0045] FIG. 3A is a diagram of an embodiment of a sensor mount 300.
In the illustrated embodiment of FIG. 3A, the sensor mount 300 is
implemented as a band-like clip. The sensor mount 300 can include
an elongated shaft 302 for clamping and/or securing the sensor
mount 300 to a medical device and a cover 314. In some embodiments,
the elongated shaft 302 can include a clamping portion 303, a
medical device lumen 304, a sensor cavity 306, an interface cavity
308, groove 310, and/or calibration indicators 312. However, it
will be understood that some embodiments can include fewer or more
portions as desired. For example, in some embodiments, the
elongated shaft 302 does not include a clamping portion 303,
interface cavity 308, groove 310, and/or calibration indicators
312, etc. Furthermore, as discussed previously, a distal and/or
proximal end of the sensor mount 300 (e.g., the elongated shaft
302, can be sharpened, angled, and/or beveled, as desired.
[0046] The length and dimensions of the elongated shaft 302, as
well as the materials used to make the elongated shaft 302 can be
similar to those described previously with reference to the
elongated shaft 102. In some embodiments, the elongated shaft 302
is smaller (e.g., shorter) than the elongated shaft 102 and extends
across only a portion of the length of the medical device shaft.
For example, the elongated shaft 302 can be located near (or
proximal to) a distal portion of the medical device, such as, near
(or proximal to) a transducer of a laparoscopic ultrasound device
(illustrated in FIG. 4B as transducer 454). In certain embodiments,
the elongated shaft 302 does not extend across the entire length of
the medical device shaft.
[0047] In some embodiments, the location of the sensor mount 300 is
based at least in part on one or more features of the medical
device, such as, but not limited to, a needle guide, offset,
indentation, ultrasound pad, etc. In certain embodiments, the
sensor mount 300 can be located on the medical device such that it
aligns with one or more features of the medical device. For
example, the sensor mount 300 can be aligned such that the
elongated shaft 302 is coupled between two features of the medical
device shaft, such as an indentation and an ultrasound pad. In this
way, the location of the sensor mount can be the same or
approximately the same each time it is placed on the medical
device.
[0048] In some embodiments, the elongated shaft 302 can include a
clamping portion 303. The clamping portion can be a portion of the
elongated shaft 302 that has a smaller cross-sectional area than
other portions of the elongated shaft 302, and can be used to more
firmly fit the sensor mount 300 to the medical device. In some
embodiments, the clamping portion 303 is configured so that it
corresponds to a feature of the medical device.
[0049] The medical device lumen 304 can be implemented similar to
the medical device lumen 106, described previously. As described
previously, the medical device lumen 304 can be shaped to
complement the shape of the medical device. In some embodiments,
the medical device lumen 304 can be circular, semi-circular, oval,
square-like, rectangular, etc. It will be understood that in
embodiments where the elongated shaft 302 does not fit all the way
around the medical device, the medical device lumen 304 can include
the corresponding shape (or portions thereof) in order to be
coupled with the medical device.
[0050] The sensor cavity 306 can be used to place the pose sensor,
similar to the placement of the pose sensor in the sensor lumen
108, described previously. In some embodiments, once the pose
sensor is located in the sensor cavity 306, an epoxy or other
material is placed in the sensor cavity 306 to protect the sensor
from exposure. In certain embodiments, the sensor cavity 306 can be
implemented similar to the sensor lumen 108, described previously
with reference to the sensor mount 100. Furthermore, in some
embodiments, the sensor mount 300 can omit the sensor cavity 306,
and the sensor can be embedded into the elongated shaft 302.
[0051] The interface cavity 308 can be used to interface the wires
from the sensor with wires from a cable. Once the wires are
electrically coupled (e.g., soldered, crimped, twisted, tied etc.),
epoxy, or other material, can be applied to protect the wires from
exposure, as well as to relieve strain. The cover 314 can be used
to protect the interface cavity 308 and its contents from exposure.
In some embodiments, the sensor mount 300 can omit the interface
cavity 308 and/or cover 314, and the sensor wires can extend from
the sensor to the navigation system and/or can be embedded into the
elongated shaft 302.
[0052] The groove 310 can be used to position the wires from the
sensor. In addition, epoxy can be applied to relieve strain on the
wires in the groove 310. However, as described previously, strain
can be relieved in a variety of ways. The calibration indicators
312 can be used to calibrate the location and orientation of the
sensor within the sensor mount 300 and/or calibrate the location of
the sensor mount 300 on the medical device. In certain embodiments,
the calibration indicators 312 can be used at manufacturing.
Furthermore, in some embodiments, the calibration indicators 312
can be indicated on a display by the medical device system and used
by the user to identify the location of the sensor mount 300. In
some embodiments, the groove 310 can be omitted. For example, in
some instances, the sensor wires can be embedded in the elongated
shaft 302 and/or the sensor wires can extend along the side of the
elongated shaft 302. Any combination of the aforementioned
embodiments can be used as desired.
[0053] As described previously with reference to the elongated
shaft 102, the elongated shaft 302 can include a sheath portion and
a hinged portion. The sheath portion can include half or more of
the cross-section of the elongated shaft and can be snapped onto
the medical device and/or the medical device can be threaded
through the sheath portion. The hinged portion can include a pivot,
hinge-pin, or living hinge. Once the medical device is coupled with
the sheath portion, the hinged portion can be closed so that the
elongated shaft 302 fits around the medical device shaft. In some
embodiments, the hinged portion can provide space for the pose
sensor and/or sensor wires. An illustration of an embodiment of the
elongated shaft 302 with a sheath portion 352 and a hinged portion
354 is provided in FIG. 3B. Any combination of the above reference
embodiments can be used as desired. Furthermore, any combination of
the components described above with reference to FIG. 3A can be
used with the illustrated embodiment of FIG. 3B as desired.
[0054] FIG. 4A is a rendering of an embodiment of a junction block
402 coupled with a medical device 452. In some embodiments, the
sensor mount 300 can be used in conjunction with a junction block
402 located on or near the medical device handle 450. In certain
embodiments, the junction block 402 can include a medical device
lumen similar to the medical device lumen 304, described
previously. In some embodiments, the junction block 402 can be
coupled with and/or adhered to the medical device shaft 452 and/or
the medical device handle 450. In some embodiments, the junction
block 402 fits around the cross-section of the medical device shaft
452. In certain embodiments, the junction block 402 fits around a
portion of the cross-section of the medical device shaft 452. In
some embodiments, the junction block 402 can include a sheath
portion and a hinge portion as described previously with reference
to the elongated shaft 302. In certain embodiments, the junction
block 402 can include a pose sensor.
[0055] The junction block 402 can receive the sensor wires from the
sensor coupled to the sensor mount 300 and can further include a
cavity similar to the cavity 116, described previously with
reference to the sensor mount 100. For example, the junction block
cavity can be used to interface the wires from the sensor with
medical device system cables 404 and relieve strain on the wires.
In addition, the junction block 402 can include a cover to cover
the sensor wires and the medical device system cables 404 residing
in the junction block cavity.
[0056] FIG. 4B is a diagram of a sensor mount 300 coupled to the
shaft 452 of a medical device, and a junction block 402 including a
spring 420. As illustrated in FIG. 4B, the sensor mount 300 can be
coupled to the shaft 452 of the medical device, and wires 422 from
the sensor coupled to the sensor mount 300 can extend to the
junction block 402. In certain embodiments, the junction block 402
can include a spring 420 that is coupled with the sensor wires 422.
In some embodiments, such as when the sensor mount 300 is used with
a medical device with an articulated head, the spring 420 can be
used to recoil the sensor wires 422 when there is slack. For
example, when the head 456 of the medical device is articulated,
the spring 420 can be stretched. After the head 456 is moved back,
the spring 420 can be used to recoil the sensor wires 422. In some
embodiments, the sensor mount 300 and/or the junction block 402 can
be used with a sterile drape. In certain embodiments, a sleeve is
used to keep the sensor wires close to the medical device.
[0057] In certain embodiments, one or more indicators can be
included on a portion of the elongated shaft of the sensor mount
300, the shaft 452 of the medical device that is proximal to the
handle 450 of the medical device, and/or the handle 450 of the
medical device. The indicators can be used to help the user orient
the medical device and can include, but are not limited to a fin,
arrow, divot, label, detent, and/or a button, etc.
[0058] FIG. 5 is a diagram of embodiments of a cross section of
sensor wires. In some embodiments, the wires from the sensor mount
300 that extend down the shaft of the medical device can be
configured in order to reduce the amount of insufflator gasses and
liquids that exit the patient. For example, in some embodiments,
the wires from the sensor mount 300 can be adhered to the medical
device (e.g., by using glue, epoxy, tape, or other adhesive, etc.).
In certain embodiments, the cross section of the wires and/or wire
cover or casing can be altered.
[0059] In some embodiments, by altering the cross-sectional shape
of the wire and/or wire cover or casing, the wire can more easily
be fitted and/or adhered to the medical device and/or a cable. For
example, Wire 502 illustrates an embodiment of the cross-section of
a typical wire. Wire 504 illustrates an embodiment of the
cross-section of a wire with a curved bottom 510 to follow the
contours of a medical device. Wire 506 illustrates an embodiment of
the cross-section of a wire with a cut-out 510 so it can be pressed
over an existing wire or cable. Wire 508 illustrates an embodiment
of the cross-section of a wire with a flat bottom 516 to lie
against the medical device and to make a light adhesive or sticker
easier to apply. As can be seen, the wires 504-508 can provide a
larger surface area to adhere to the medical device and/or a
cable.
[0060] Reference throughout this specification to "some
embodiments," "certain embodiments," or "an embodiment" means that
a particular feature, structure or characteristic described in
connection with the embodiment is included in at least some
embodiments. Thus, appearances of the phrases "in some embodiments"
or "in an embodiment" in various places throughout this
specification are not necessarily all referring to the same
embodiment and may refer to one or more of the same or different
embodiments. Furthermore, the particular features, structures or
characteristics may be combined in any suitable manner, as would be
apparent to one of ordinary skill in the art from this disclosure,
in one or more embodiments.
[0061] As used in this application, the terms "comprising,"
"including," "having," and the like are synonymous and are used
inclusively, in an open-ended fashion, and do not exclude
additional elements, features, acts, operations, and so forth.
Also, the term "or" is used in its inclusive sense (and not in its
exclusive sense) so that when used, for example, to connect a list
of elements, the term "or" means one, some, or all of the elements
in the list.
[0062] Similarly, it should be appreciated that in the above
description of embodiments, various features are sometimes grouped
together in a single embodiment, figure, or description thereof for
the purpose of streamlining the disclosure and aiding in the
understanding of one or more of the various inventive aspects. This
method of disclosure, however, is not to be interpreted as
reflecting an intention that any claim require more features than
are expressly recited in that claim. Rather, inventive aspects lie
in a combination of fewer than all features of any single foregoing
disclosed embodiment.
[0063] Conditional language used herein, such as, among others,
"can," "could," "might," "may," "e.g.," and the like, unless
specifically stated otherwise, or otherwise understood within the
context as used, is generally intended to convey that certain
embodiments include, while other embodiments do not include,
certain features, elements and/or states. Thus, such conditional
language is not generally intended to imply that features, elements
and/or states are in any way required for one or more embodiments
or that one or more embodiments necessarily include logic for
deciding, with or without author input or prompting, whether these
features, elements and/or states are included or are to be
performed in any particular embodiment.
[0064] While the above detailed description has shown, described,
and pointed out novel features as applied to various embodiments,
it will be understood that various omissions, substitutions, and
changes in the form and details of the features illustrated may be
made without departing from the spirit of the disclosure. As will
be recognized, certain embodiments of the inventions described
herein may be embodied within a form that does not provide all of
the features and benefits set forth herein, as some features may be
used or practiced separately from others.
* * * * *